US8760248B2 - Electromagnetic actuator and corresponding control device with haptic feedback - Google Patents

Electromagnetic actuator and corresponding control device with haptic feedback Download PDF

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Publication number
US8760248B2
US8760248B2 US12/937,769 US93776909A US8760248B2 US 8760248 B2 US8760248 B2 US 8760248B2 US 93776909 A US93776909 A US 93776909A US 8760248 B2 US8760248 B2 US 8760248B2
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actuator
plate
fixed
coil
mobile
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US20110037546A1 (en
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Bruno Marie
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Dav SA
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Dav SA
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H2003/008—Mechanisms for operating contacts with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Definitions

  • the present invention relates to an electromagnetic actuator intended to be mounted in a control device making it possible in particular to transmit a haptic feedback to a user, such as a vibratory feedback.
  • the invention also relates to such a control device.
  • multifunction control devices produced for example in the form of a joystick or a rotary knob, are increasingly used to control electrical or electronic systems, such as an air-conditioning system, an audio system or else a navigation system.
  • Such devices may be associated with a display screen and allow navigation around pop-up menus comprising various controls relating to the systems to be controlled.
  • a press on the tactile surface by the user is for example associated with the selection of a control command.
  • control devices with haptic feedback comprising electromagnetic actuators, linked to a plate of the tactile-surface sensor so as to transmit a vibration motion to the plate, in such a way that the user perceives a haptic feedback informing him that his command has indeed been taken into account.
  • the objective of the present invention is to propose an electromagnetic actuator optimized with respect to the prior art.
  • the subject of the invention is an electromagnetic actuator intended to be mounted in a control device with haptic feedback so as to transmit a haptic feedback to a user, said actuator comprising a fixed part and a mobile part, said fixed and mobile parts forming a magnetic circuit defining at least one air gap between said fixed and mobile parts, characterized in that said actuator furthermore comprises:
  • Such an electromagnetic actuator makes it possible to generate in an improved manner the actuation force to drive the mobile part in translation in the air gap so as to thus generate the haptic feedback at the level of the plate of the corresponding control device, intended to be linked to the mobile part of the actuator.
  • Said actuator can furthermore comprise one or more following characteristics, taken separately or in combination:
  • the subject of the invention is also a corresponding control device with haptic feedback, said device comprising:
  • Said device can furthermore comprise one or more following characteristics, taken separately or in combination:
  • FIG. 1 represents a first embodiment of a control device comprising at least one actuator according to the invention
  • FIG. 2 a illustrates an actuator according to the invention
  • FIG. 2 b is a perspective view of the actuator of FIG. 2 a .
  • FIG. 3 represents a second embodiment of the control device
  • FIG. 4 is a diagram representing elements of the control device.
  • the invention relates to an electromagnetic actuator for a control device with haptic feedback that is able to transmit a haptic feedback to a user having for example modified or selected a control.
  • the haptic feedback for example of vibratory type, makes it possible to assure the user that the modified or selected control has been taken into account.
  • Such a control device can for example be arranged in a motor vehicle control panel, or else a motor vehicle central console, to control electrical or electronic systems of the vehicle.
  • FIG. 1 represents such a control device 1 comprising a plate 3 for transmitting a haptic feedback to a user and two actuators 5 a , 5 b linked to the plate 3 so as to generate the haptic feedback.
  • a control device 1 comprising a plate 3 for transmitting a haptic feedback to a user and two actuators 5 a , 5 b linked to the plate 3 so as to generate the haptic feedback.
  • two actuators 5 a , 5 b linked to the plate 3 so as to generate the haptic feedback.
  • provision may be made for a single or several actuators.
  • the plate 3 carries a tactile-surface sensor 7 , for example a pressure sensor using FSR (“Force Sensing Resistor”) technology, that is to say using pressure-sensitive resistors.
  • This sensor 7 makes it possible to detect a press, for example by a finger of the user, on the tactile surface.
  • a protective and decorative skin may be disposed on the tactile-surface sensor 7 .
  • the two actuators 5 a , 5 b are for example disposed at the level of two opposite sides of the plate 3 for better distribution of the loads applied to the plate 3 .
  • Each actuator 5 a , 5 b is electromagnetic and comprises a fixed part 9 and a mobile part 11 linked to the plate 3 .
  • the fixed part 9 is disposed facing the mobile part 11 so as to delimit an air gap e between the fixed part 9 and the mobile part 11 .
  • the mobile part 11 is configured so as to be driven in translation in the air gap e in such a way as to generate the haptic feedback.
  • An elastic element 15 can then be arranged in the air gap e, to guide the motion of the mobile part 11 .
  • the elastic element 15 damps the motion of the mobile part 11 and avoids any physical contact between the fixed part 9 and the mobile part 11 , thus limiting the noise generated during the motion of the mobile part 11 .
  • This elastic element 15 may be made of elastomer or silicone and may be overmolded on the fixed part 9 and the mobile part 11 .
  • the elastic element 15 can exhibit by way of example a thickness of the order of 2 mm.
  • the electromagnetic actuators 5 a , 5 b may be disposed so as to drive the plate 3 in motion along a substantially horizontal direction with respect to the plate 3 .
  • the electromagnetic actuators 5 a , 5 b are disposed so as to drive the plate 3 in motion along a direction D 1 or D 2 substantially vertical with respect to the plate 3 , that is to say perpendicular to the plane defined by the plate 3 .
  • This leaktightness means 17 can for example be made of elastic material, such as elastomer or silicone.
  • This leaktightness means 17 also forms a damper of the motion of the plate along the direction D 1 or D 2 .
  • the motion of the plate 3 is delimited on the one hand by the elastic element 15 between the fixed 9 and mobile 11 parts of the electromagnetic actuators 5 a and 5 b , and on the other hand by the leaktightness means 17 .
  • an electromagnetic actuator 5 a , 5 b comprises a ferromagnetic structure 21 , made for example of soft iron, which carries two magnets 23 a , 23 b and a coil 25 disposed between the two magnets 23 a , 23 b.
  • the ferromagnetic structure 21 carrying the two magnets 23 a , 23 b may be carried by the mobile part 11 of the electromagnetic actuator 5 a , 5 b (see FIG. 1 ) or as a variant by the fixed part 9 of the electromagnetic actuator 5 a , 5 b (see FIG. 3 ).
  • the coil 25 may be carried by the fixed part 9 of the electromagnetic actuator 5 a , 5 b (see FIG. 1 ) or as a variant by the mobile part 11 of the electromagnetic actuator 5 a , 5 b (see FIG. 3 ).
  • the shape of the plate 3 is suitable for being fixed to the mobile part 11 carrying the coil 25 . More precisely, the plate 3 exhibits at its ends two prolongations which will be fixed to the mobile parts 11 .
  • the two magnets 23 a , 23 b are permanent magnets of the same polarity disposed facing one another so as to generate a first B 1 and a second B 2 opposite magnetic fields.
  • the structure 21 exhibits a substantially E-shaped general form, with two outer branches 21 a , 21 b and a central branch 21 c.
  • an elastic element 15 is provided in each air gap e delimited by an outer branch 21 a , 21 b and the central branch 21 c.
  • the outer branches 21 a , 21 b carry a magnet 23 a , 23 b respectively.
  • the magnets 23 a , 23 b exhibit a substantially flat shape and extend respectively along the outer branches 21 a , 21 b.
  • the central branch 21 c engages in an opening 27 provided in the body of the coil 25 , the central branch 21 c thus forming a support for the winding of the coil 25 which then successively crosses the two opposite magnetic fields B 1 and B 2 .
  • This central branch 21 c thus furthermore ensures the mechanical guidance of the translation of the mobile part 11 .
  • the winding of the coil 25 is along the longitudinal axis L of the electromagnetic actuator 5 a , 5 b in a manner perpendicular to the magnetic fields B 1 and B 2 created by the magnets 23 a , 23 b , so as to generate a translation of the plate 3 along the direction D 1 or D 2 perpendicular both to the longitudinal axis L and to the fields B 1 ,B 2 .
  • the supplying of current to the coil 25 of an electromagnetic actuator 5 a , 5 b along a first direction d perpendicular to the first magnetic field B 1 created by the magnet 23 a , at the level of the upper part of the winding generates a Laplace force F 11 perpendicular both to the first magnetic field B 1 and to the direction d.
  • the supplying of current to the coil 25 along a second direction d′ opposite to the first direction d and perpendicular to the second magnetic field B 2 created by the magnet 23 b at the level of the lower part of the winding, generates a Laplace force F 12 perpendicular both to the second magnetic field B 2 and to the direction d′.
  • the two Laplace forces F 11 and F 12 generated are oriented along a common drive direction D 1 and are aggregated so that the resultant actuation force drives the mobile part 11 in translation in the air gap e so as to displace the plate 3 along the direction D 1 .
  • Such an actuator 5 a or 5 b makes it possible to generate an actuation force alternately along two opposite directions.
  • the supplying of current to the coil 25 of an electromagnetic actuator 5 a , 5 b makes it possible to displace the plate 3 in translation along the direction D 2 , by reversing the direction of flow of the current.
  • the expression “passive actuator” is understood to mean the fact that this actuator does not comprise any actuation means to drive the mobile part 11 in translation in the air gap e so as to generate the haptic feedback.
  • This passive actuator serves as guidance for the plate 3 when the haptic feedback is generated by the electromagnetic actuator or actuators 5 a , 5 b .
  • the device 1 then no longer requires any additional guidance means that could cause a hyperstatic problem tending to decrease the overall efficiency of the device 1 .
  • the device 1 can comprise an activating unit 19 ( FIG. 4 ) linked to the tactile-surface sensor 7 and to the electromagnetic actuators 5 a , 5 b so as to provide an independent control signal to each actuator 1 in order to drive the plate 3 in motion, when a press is detected on the tactile surface.
  • the control signal may be square or sinusoidal.
  • the unit 19 can for example provide a periodic supply signal to each electromagnetic actuator 5 a , 5 b , the supply signals being phase-shifted.
  • the phase shift may be suited to the position of the press detected.
  • the supply signals are phase-shifted by 180° so that when the electromagnetic actuator 5 a directs the plate 3 in the direction D 1 , the electromagnetic actuator 5 b directs the plate 3 in the direction D 2 opposite to the direction D 1 (see FIGS. 1 and 3 ).
  • phase-opposition activation of the two electromagnetic actuators 5 a , 5 b plays a toggling effect which makes it possible practically to double the acceleration and therefore to amplify the mechanical power for generating the haptic feedback. Moreover, given the small displacement travel of the mobile part 11 , the user feels a uniform haptic feedback despite the toggling effect.
  • the unit 19 can control the application of different voltage levels across the terminals of each actuator 1 .
  • the unit 19 may adapt the control signals as a function of the position of the finger on the tactile surface.
  • the haptic feedback may be generated firstly for example with phase-opposition activation along two opposite directions, and then by simultaneous activation along a common direction when the finger reaches the center of the tactile surface, and vice versa.
  • an electromagnetic actuator 5 a , 5 b according to the invention and that a control device 1 comprising such an electromagnetic actuator 5 a , 5 b makes it possible to generate in an improved manner a haptic feedback to a user in a horizontal or vertical plane with respect to the support plate 3 of the tactile surface.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
US12/937,769 2008-04-25 2009-04-20 Electromagnetic actuator and corresponding control device with haptic feedback Active 2029-09-30 US8760248B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0802323 2008-04-25
FR0802323A FR2930657B1 (fr) 2008-04-25 2008-04-25 Dispositif de commande a retour haptique et actionneur electromagnetique correspondant
PCT/EP2009/054681 WO2009130188A2 (fr) 2008-04-25 2009-04-20 Actionneur electromagnetique et dispositif de commande a retour haptique correspondant

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US20110037546A1 US20110037546A1 (en) 2011-02-17
US8760248B2 true US8760248B2 (en) 2014-06-24

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US (1) US8760248B2 (ja)
EP (1) EP2277095B1 (ja)
JP (1) JP6106360B2 (ja)
FR (1) FR2930657B1 (ja)
WO (1) WO2009130188A2 (ja)

Cited By (13)

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US20140139476A1 (en) * 2011-07-18 2014-05-22 Continental Automotive Gmbh Operator control device
DE102015120605A1 (de) * 2015-11-27 2017-06-01 Valeo Schalter Und Sensoren Gmbh Bedienvorrichtung für ein Kraftfahrzeug mit Antriebseinrichtung zum Ausgeben einer haptischen Rückmeldung sowie Kraftfahrzeug
US9726922B1 (en) 2013-12-20 2017-08-08 Apple Inc. Reducing display noise in an electronic device
US9927905B2 (en) 2015-08-19 2018-03-27 Apple Inc. Force touch button emulation
US10185397B2 (en) 2015-03-08 2019-01-22 Apple Inc. Gap sensor for haptic feedback assembly
US10275028B2 (en) 2014-09-22 2019-04-30 Samsung Electronics Company, Ltd. Magnetic haptic system
US10282014B2 (en) 2013-09-30 2019-05-07 Apple Inc. Operating multiple functions in a display of an electronic device
US10296123B2 (en) 2015-03-06 2019-05-21 Apple Inc. Reducing noise in a force signal in an electronic device
US10416811B2 (en) 2015-09-24 2019-09-17 Apple Inc. Automatic field calibration of force input sensors
WO2020229000A1 (de) * 2019-05-13 2020-11-19 Preh Gmbh Eingabeanordnung mit aktivem haptischem feedback und störschwingungsunterdrückung
US10890974B2 (en) 2018-11-07 2021-01-12 Microsoft Technology Licensing, Llc Electromagnetically actuating a haptic feedback system
US11318498B2 (en) 2018-05-28 2022-05-03 Kyocera Corporation Unit and tactile sensation providing apparatus
US11410109B2 (en) * 2018-11-01 2022-08-09 Precog, LLC Portable real-time experience communications device and monitoring system

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FR2944614B1 (fr) * 2009-04-20 2011-06-03 Dav Dispositif de commande a retour haptique et actionneur correspondant
FR2944613B1 (fr) * 2009-04-20 2011-06-03 Dav Dispositif de commande a retour haptique
DE102010007486A1 (de) * 2010-02-09 2011-08-11 Continental Automotive GmbH, 30165 Bedienvorrichtung
JP5815698B2 (ja) * 2010-07-16 2015-11-17 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 触覚面上に触覚効果を生じさせる複アクチュエータ触覚面を含む装置
FR2977363B1 (fr) * 2011-06-30 2014-02-28 Dav Module d'interface tactile a retour haptique
DE112013003425T5 (de) 2012-07-07 2015-04-09 Saia-Burgess Llc Haptische Aktuatoren
FR2999740B1 (fr) * 2012-12-13 2018-03-30 Dav Actionneur pour module d'interface tactile a retour haptique
US9436341B2 (en) 2012-12-21 2016-09-06 Johnson Electric S.A. Haptic feedback devices
FR3032396B1 (fr) * 2015-02-10 2020-08-28 Dav Dispositif de retour haptique pour vehicule automobile
DE102015107828B4 (de) * 2015-05-19 2018-03-08 Trw Automotive Electronics & Components Gmbh Schaltvorrichtung
WO2016195588A1 (en) * 2015-06-03 2016-12-08 Razer (Asia-Pacific) Pte. Ltd. Haptics devices and methods for controlling a haptics device
DE102015008571B4 (de) 2015-07-02 2017-08-24 Audi Ag Kraftfahrzeug-Bedienvorrichtung mit verfahrbarer Bedienoberfläche
DE102015008537A1 (de) * 2015-07-02 2017-01-05 Audi Ag Kraftfahrzeug-Bedienvorrichtung mit haptischer Rückmeldung
JP6828029B2 (ja) * 2015-10-13 2021-02-10 ダヴ タクト・インターフェースモジュールのアクチュエータ、タクト・インターフェースモジュール、及び触覚フィードバックを生成する方法
FR3042289B1 (fr) * 2015-10-13 2019-08-16 Dav Module d'interface tactile et procede de generation d'un retour haptique
DE102016005926A1 (de) * 2016-05-14 2017-11-16 Leopold Kostal Gmbh & Co. Kg Elektromagnetischer Feedback-Aktuator für ein Bedienelement und Anordnung mit mindestens einem elektromagnetischen Feedback-Aktuator
WO2017219137A1 (en) * 2016-06-24 2017-12-28 Nanoport Technology Inc. Tactile feedback actuator, electronic device using same, and method of operating same
WO2018162704A1 (de) * 2017-03-09 2018-09-13 Behr-Hella Thermocontrol Gmbh Elektromagnetischer aktuator für eine mechanische rückmeldeeinheit
IT201700058490A1 (it) * 2017-05-30 2018-11-30 Bitron Spa Plancia di comando con dispositivo di riscontro aptico.
DE202018101900U1 (de) * 2018-04-09 2018-04-17 Preh Gmbh Berührempfindliches Eingabegerät mit in Maximalmagnetisierung betriebenem, elektromagnetischem Aktuator
US10345910B1 (en) * 2018-06-15 2019-07-09 Immersion Corporation Haptic actuator assembly with a spring pre-load device
KR20220007858A (ko) * 2019-05-09 2022-01-19 베르-헬라 테르모콘트롤 게엠베하 자동차용 조작유닛
US11496034B2 (en) 2019-06-14 2022-11-08 Apple Inc. Haptic actuator having a double-wound driving coil for temperature-independent velocity sensing
US11527946B2 (en) * 2019-06-14 2022-12-13 Apple Inc. Haptic actuator having a double-wound driving coil for temperature- and driving current-independent velocity sensing
FR3099260B1 (fr) * 2019-07-23 2022-03-04 Valeo Comfort & Driving Assistance Procédé de calibration d’un actionneur haptique et actionneur haptique
FR3099833A1 (fr) * 2019-08-07 2021-02-12 Moving Magnet Technologies Interface haptique passive

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9195307B2 (en) * 2011-07-18 2015-11-24 Continental Automotive Gmbh Operator control device
US20140139476A1 (en) * 2011-07-18 2014-05-22 Continental Automotive Gmbh Operator control device
US10282014B2 (en) 2013-09-30 2019-05-07 Apple Inc. Operating multiple functions in a display of an electronic device
US10394359B2 (en) 2013-12-20 2019-08-27 Apple Inc. Reducing display noise in an electronic device
US9726922B1 (en) 2013-12-20 2017-08-08 Apple Inc. Reducing display noise in an electronic device
US10275028B2 (en) 2014-09-22 2019-04-30 Samsung Electronics Company, Ltd. Magnetic haptic system
US10296123B2 (en) 2015-03-06 2019-05-21 Apple Inc. Reducing noise in a force signal in an electronic device
US10185397B2 (en) 2015-03-08 2019-01-22 Apple Inc. Gap sensor for haptic feedback assembly
US9927905B2 (en) 2015-08-19 2018-03-27 Apple Inc. Force touch button emulation
US10416811B2 (en) 2015-09-24 2019-09-17 Apple Inc. Automatic field calibration of force input sensors
US20180348869A1 (en) * 2015-11-27 2018-12-06 Valeo Schalter Und Sensoren Gmbh Operator apparatus for a motor vehicle with drive device for outputting a haptic feedback, and motor vehicle
DE102015120605A1 (de) * 2015-11-27 2017-06-01 Valeo Schalter Und Sensoren Gmbh Bedienvorrichtung für ein Kraftfahrzeug mit Antriebseinrichtung zum Ausgeben einer haptischen Rückmeldung sowie Kraftfahrzeug
US11318498B2 (en) 2018-05-28 2022-05-03 Kyocera Corporation Unit and tactile sensation providing apparatus
US11410109B2 (en) * 2018-11-01 2022-08-09 Precog, LLC Portable real-time experience communications device and monitoring system
US10890974B2 (en) 2018-11-07 2021-01-12 Microsoft Technology Licensing, Llc Electromagnetically actuating a haptic feedback system
WO2020229000A1 (de) * 2019-05-13 2020-11-19 Preh Gmbh Eingabeanordnung mit aktivem haptischem feedback und störschwingungsunterdrückung
US11970061B2 (en) 2019-05-13 2024-04-30 Preh Gmbh Input assembly with active haptic feedback and suppression of interfering vibrations

Also Published As

Publication number Publication date
US20110037546A1 (en) 2011-02-17
JP6106360B2 (ja) 2017-03-29
EP2277095A2 (fr) 2011-01-26
WO2009130188A2 (fr) 2009-10-29
WO2009130188A3 (fr) 2010-07-15
FR2930657A1 (fr) 2009-10-30
FR2930657B1 (fr) 2010-04-30
JP2012524506A (ja) 2012-10-11
EP2277095B1 (fr) 2020-09-09

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